PAST TENSE OF REGULAR VERBS - INTERROGATIVE

Para hacer interrogativas en pasado se utiliza el auxiliar "DID"; el orden de palabras es:
(Pronombre interrogativo) + did + sujeto + verbo en infinitivo + complementos ?
Ejemplos:They washed their clothes. Did they wash their clothes?
I worked in London. (where?) Where did you work?
Susan loved William. (Who?) Who did Susan love?